Cao Qiyuan, Wang Rui, Zhang Tiandong, Wang Yu, Wang Shuo
State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China.
School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, China.
Cyborg Bionic Syst. 2022 May 31;2022:9806328. doi: 10.34133/2022/9806328. eCollection 2022.
In this paper, the hydrodynamic modeling and parameter identification of the RobDact, a bionic underwater vehicle inspired by Dactylopteridae, are carried out based on computational fluid dynamics (CFD) and force measurement experiment. Firstly, the paper briefly describes the RobDact, then establishes the kinematics model and rigid body dynamics model of the RobDact according to the hydrodynamic force and moment equations. Through CFD simulations, the hydrodynamic force of the RobDact at different speeds is obtained, and then, the hydrodynamic model parameters are identified. Furthermore, the measurement platform is developed to obtain the relationship between the thrust generated by the RobDact and the input fluctuation parameters. Finally, by combining the rigid body dynamics model and the fin thrust mapping model, the hydrodynamic model of the RobDact at different motion states is constructed.
本文基于计算流体动力学（CFD）和测力实验，对受鲾鲼科启发的仿生水下航行器RobDact进行了流体动力学建模和参数识别。首先，本文简要介绍了RobDact，然后根据流体动力和力矩方程建立了RobDact的运动学模型和刚体动力学模型。通过CFD模拟，获得了RobDact在不同速度下的流体动力，进而识别了流体动力学模型参数。此外，还开发了测量平台，以获得RobDact产生的推力与输入波动参数之间的关系。最后，通过结合刚体动力学模型和鳍推力映射模型，构建了RobDact在不同运动状态下的流体动力学模型。
